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<a href="sync_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: sync.h,v 4c335a1d4db0 2011/10/24 08:47:36 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  with the IgH EtherCAT Master; if not, write to the Free Software</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  ---</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef __EC_SYNC_H__</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define __EC_SYNC_H__</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="pdo__list_8h.html">pdo_list.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sync__config_8h.html">sync_config.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structec__sync__t.html">   47</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structec__sync__t.html#a76825f16d6c2d649740045b5a0c96a26">   48</a></span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *<a class="code" href="structec__sync__t.html#a76825f16d6c2d649740045b5a0c96a26">slave</a>; </div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">   49</a></span>&#160;    uint16_t <a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a>; </div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">   50</a></span>&#160;    uint16_t <a class="code" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">default_length</a>; </div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">   51</a></span>&#160;    uint8_t <a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a>; </div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">   52</a></span>&#160;    uint8_t <a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a>; </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">   53</a></span>&#160;    <a class="code" href="structec__pdo__list__t.html">ec_pdo_list_t</a> <a class="code" href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">pdos</a>; </div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;} <a class="code" href="structec__sync__t.html">ec_sync_t</a>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keywordtype">void</span> <a class="code" href="sync_8h.html#a29f4dd145455097fef860bdd3c5a8de9">ec_sync_init</a>(<a class="code" href="structec__sync__t.html">ec_sync_t</a> *, <a class="code" href="structec__slave.html">ec_slave_t</a> *);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keywordtype">void</span> <a class="code" href="sync_8h.html#a31f2b633260698acdce16b652d72809b">ec_sync_init_copy</a>(<a class="code" href="structec__sync__t.html">ec_sync_t</a> *, <span class="keyword">const</span> <a class="code" href="structec__sync__t.html">ec_sync_t</a> *);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keywordtype">void</span> <a class="code" href="sync_8h.html#af97d18e6309cc3ea675995287713f8f0">ec_sync_clear</a>(<a class="code" href="structec__sync__t.html">ec_sync_t</a> *);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keywordtype">void</span> <a class="code" href="sync_8h.html#a8d1b5ce1731d355b658857f7696edba5">ec_sync_page</a>(<span class="keyword">const</span> <a class="code" href="structec__sync__t.html">ec_sync_t</a> *, uint8_t, uint16_t,</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__sync__config__t.html">ec_sync_config_t</a> *, uint8_t, uint8_t *);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keywordtype">int</span> <a class="code" href="sync_8h.html#a816771d389f3c39e39cfb4cf35d415fb">ec_sync_add_pdo</a>(<a class="code" href="structec__sync__t.html">ec_sync_t</a> *, <span class="keyword">const</span> <a class="code" href="structec__pdo__t.html">ec_pdo_t</a> *);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<a class="code" href="group__ApplicationInterface.html#ga703c4e47384b3601e7605d6d910aaba1">ec_direction_t</a> <a class="code" href="sync_8h.html#acb0bd9718b40240f920103463bd36ed1">ec_sync_default_direction</a>(<span class="keyword">const</span> <a class="code" href="structec__sync__t.html">ec_sync_t</a> *);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="structec__pdo__list__t_html"><div class="ttname"><a href="structec__pdo__list__t.html">ec_pdo_list_t</a></div><div class="ttdoc">EtherCAT PDO list. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8h_source.html#l00049">pdo_list.h:49</a></div></div>
<div class="ttc" id="sync_8h_html_af97d18e6309cc3ea675995287713f8f0"><div class="ttname"><a href="sync_8h.html#af97d18e6309cc3ea675995287713f8f0">ec_sync_clear</a></div><div class="ttdeci">void ec_sync_clear(ec_sync_t *)</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00081">sync.c:81</a></div></div>
<div class="ttc" id="sync_8h_html_a8d1b5ce1731d355b658857f7696edba5"><div class="ttname"><a href="sync_8h.html#a8d1b5ce1731d355b658857f7696edba5">ec_sync_page</a></div><div class="ttdeci">void ec_sync_page(const ec_sync_t *, uint8_t, uint16_t, const ec_sync_config_t *, uint8_t, uint8_t *)</div><div class="ttdoc">Initializes a sync manager configuration page. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00094">sync.c:94</a></div></div>
<div class="ttc" id="sync_8h_html_a816771d389f3c39e39cfb4cf35d415fb"><div class="ttname"><a href="sync_8h.html#a816771d389f3c39e39cfb4cf35d415fb">ec_sync_add_pdo</a></div><div class="ttdeci">int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *)</div><div class="ttdoc">Adds a PDO to the list of known mapped PDOs. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00153">sync.c:153</a></div></div>
<div class="ttc" id="sync_8h_html_a29f4dd145455097fef860bdd3c5a8de9"><div class="ttname"><a href="sync_8h.html#a29f4dd145455097fef860bdd3c5a8de9">ec_sync_init</a></div><div class="ttdeci">void ec_sync_init(ec_sync_t *, ec_slave_t *)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00046">sync.c:46</a></div></div>
<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div><div class="ttdoc">Global definitions and macros. </div></div>
<div class="ttc" id="structec__slave_html"><div class="ttname"><a href="structec__slave.html">ec_slave</a></div><div class="ttdoc">EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00176">slave.h:176</a></div></div>
<div class="ttc" id="pdo__list_8h_html"><div class="ttname"><a href="pdo__list_8h.html">pdo_list.h</a></div><div class="ttdoc">EtherCAT PDO list structure. </div></div>
<div class="ttc" id="sync_8h_html_acb0bd9718b40240f920103463bd36ed1"><div class="ttname"><a href="sync_8h.html#acb0bd9718b40240f920103463bd36ed1">ec_sync_default_direction</a></div><div class="ttdeci">ec_direction_t ec_sync_default_direction(const ec_sync_t *)</div><div class="ttdoc">Determines the default direction from the control register. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00167">sync.c:167</a></div></div>
<div class="ttc" id="structec__pdo__t_html"><div class="ttname"><a href="structec__pdo__t.html">ec_pdo_t</a></div><div class="ttdoc">PDO description. </div><div class="ttdef"><b>Definition:</b> <a href="pdo_8h_source.html#l00049">pdo.h:49</a></div></div>
<div class="ttc" id="structec__sync__t_html"><div class="ttname"><a href="structec__sync__t.html">ec_sync_t</a></div><div class="ttdoc">Sync manager. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00047">sync.h:47</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga703c4e47384b3601e7605d6d910aaba1"><div class="ttname"><a href="group__ApplicationInterface.html#ga703c4e47384b3601e7605d6d910aaba1">ec_direction_t</a></div><div class="ttdeci">ec_direction_t</div><div class="ttdoc">Direction type for PDO assignment functions. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00417">ecrt.h:417</a></div></div>
<div class="ttc" id="structec__sync__t_html_a76825f16d6c2d649740045b5a0c96a26"><div class="ttname"><a href="structec__sync__t.html#a76825f16d6c2d649740045b5a0c96a26">ec_sync_t::slave</a></div><div class="ttdeci">ec_slave_t * slave</div><div class="ttdoc">Slave, the sync manager belongs to. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00048">sync.h:48</a></div></div>
<div class="ttc" id="sync__config_8h_html"><div class="ttname"><a href="sync__config_8h.html">sync_config.h</a></div><div class="ttdoc">EtherCAT sync manager. </div></div>
<div class="ttc" id="structec__sync__t_html_aede99eccf8db60056e6deebe66501365"><div class="ttname"><a href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">ec_sync_t::control_register</a></div><div class="ttdeci">uint8_t control_register</div><div class="ttdoc">Control register value. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00051">sync.h:51</a></div></div>
<div class="ttc" id="sync_8h_html_a31f2b633260698acdce16b652d72809b"><div class="ttname"><a href="sync_8h.html#a31f2b633260698acdce16b652d72809b">ec_sync_init_copy</a></div><div class="ttdeci">void ec_sync_init_copy(ec_sync_t *, const ec_sync_t *)</div><div class="ttdoc">Copy constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00063">sync.c:63</a></div></div>
<div class="ttc" id="structec__sync__t_html_a581dfbd7e289ab43dc3f5b7f844c4776"><div class="ttname"><a href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">ec_sync_t::enable</a></div><div class="ttdeci">uint8_t enable</div><div class="ttdoc">Enable bit. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00052">sync.h:52</a></div></div>
<div class="ttc" id="structec__sync__config__t_html"><div class="ttname"><a href="structec__sync__config__t.html">ec_sync_config_t</a></div><div class="ttdoc">Sync manager configuration. </div><div class="ttdef"><b>Definition:</b> <a href="sync__config_8h_source.html#l00046">sync_config.h:46</a></div></div>
<div class="ttc" id="structec__sync__t_html_a96e5121c2fd258439b25d1a826ec5970"><div class="ttname"><a href="structec__sync__t.html#a96e5121c2fd258439b25d1a826ec5970">ec_sync_t::pdos</a></div><div class="ttdeci">ec_pdo_list_t pdos</div><div class="ttdoc">Current PDO assignment. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00053">sync.h:53</a></div></div>
<div class="ttc" id="structec__sync__t_html_a35017ae8615f6eee4ecb5ed044501184"><div class="ttname"><a href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">ec_sync_t::physical_start_address</a></div><div class="ttdeci">uint16_t physical_start_address</div><div class="ttdoc">Physical start address. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00049">sync.h:49</a></div></div>
<div class="ttc" id="structec__sync__t_html_ade13d88d878f5e87763c34b636a4c1a1"><div class="ttname"><a href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">ec_sync_t::default_length</a></div><div class="ttdeci">uint16_t default_length</div><div class="ttdoc">Data length in bytes. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00050">sync.h:50</a></div></div>
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